为了克服机器人在奇异点附近的运动障碍，提出基于任务分解和速度分配的机器人运动规划方法:将控制任务按照优先顺序分解成若干项子任务分别进行控制;根据电机的驱动能力和任务优先顺序确定各项子任务的速度分配，以便在机器人处于奇异姿态或在奇异姿态附近，其灵活性降低的情况下，机器人也能够协调运动，保证重要控制目标的实现，避免由于速度突变造成的机器人抖动、末端误差过大和控制系统不稳定现象． 最后以 PUMA 机器人为例，说明了控制系统的构成，并通过仿真证明了文中方法的可行性．

In order to overcome the motion difficulties of robot near its singularities,a new motion planning algo- rithm is proposed on the basis of task decomposition and speed distribution.In this algorithm,the control task is di- vided into several sub-tasks according to their priorities,and each sub-task is controlled independently.The velocity component of each sub-task is determined according to the driving capability of joint motors and the priority of each sub-task,which helps implement the coordinated movement of robot even in the condition of low flexibility when the robot moves near the singularities or stays in the singularities,thus achieving the control objective and avoiding the vibration,excessive end-effector error and system instability caused by the sudden change of joint relative velocity.By taking a PUMA robot for example,the composition of the control system is illustrated,and the feasibility of the proposed method is proved via simulation.